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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1recognition_1_1_voxel_structure-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::recognition::VoxelStructure&lt; T, REAL &gt; 模板类 参考</div>  </div>
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<p>This class is a box in R3 built of voxels ordered in a regular rectangular grid. Each voxel is of type T.  
 <a href="classpcl_1_1recognition_1_1_voxel_structure.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="ransac__based_2voxel__structure_8h_source.html">voxel_structure.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a073f10f573fe931183b287d58778f0f9"><td class="memItemLeft" align="right" valign="top"><a id="a073f10f573fe931183b287d58778f0f9"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#a073f10f573fe931183b287d58778f0f9">build</a> (const REAL bounds[6], int num_of_voxels[3])</td></tr>
<tr class="memdesc:a073f10f573fe931183b287d58778f0f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Call this method before using an instance of this class. Parameter meaning is obvious. <br /></td></tr>
<tr class="separator:a073f10f573fe931183b287d58778f0f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4bce57dc19a40f6112f29efced42a94"><td class="memItemLeft" align="right" valign="top"><a id="ab4bce57dc19a40f6112f29efced42a94"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab4bce57dc19a40f6112f29efced42a94">clear</a> ()</td></tr>
<tr class="memdesc:ab4bce57dc19a40f6112f29efced42a94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Release the memory allocated for the voxels. <br /></td></tr>
<tr class="separator:ab4bce57dc19a40f6112f29efced42a94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1313ad51305b2ab9f6369b41849a12b3"><td class="memItemLeft" align="right" valign="top"><a id="a1313ad51305b2ab9f6369b41849a12b3"></a>
T *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#a1313ad51305b2ab9f6369b41849a12b3">getVoxel</a> (const REAL p[3])</td></tr>
<tr class="memdesc:a1313ad51305b2ab9f6369b41849a12b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a pointer to the voxel which contains p or NULL if p is not inside the structure. <br /></td></tr>
<tr class="separator:a1313ad51305b2ab9f6369b41849a12b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfd5b0db1b0df621eef179ccf87cb76e"><td class="memItemLeft" align="right" valign="top"><a id="adfd5b0db1b0df621eef179ccf87cb76e"></a>
T *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#adfd5b0db1b0df621eef179ccf87cb76e">getVoxel</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:adfd5b0db1b0df621eef179ccf87cb76e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a pointer to the voxel with integer id (x,y,z) or NULL if (x,y,z) is out of bounds. <br /></td></tr>
<tr class="separator:adfd5b0db1b0df621eef179ccf87cb76e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7c2cf3399363204603b5074a5eedd15"><td class="memItemLeft" align="right" valign="top"><a id="aa7c2cf3399363204603b5074a5eedd15"></a>
const T *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa7c2cf3399363204603b5074a5eedd15">getVoxels</a> () const</td></tr>
<tr class="memdesc:aa7c2cf3399363204603b5074a5eedd15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the linear voxel array. <br /></td></tr>
<tr class="separator:aa7c2cf3399363204603b5074a5eedd15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8959adb92fb49e9435ace6b5a36721a"><td class="memItemLeft" align="right" valign="top"><a id="ab8959adb92fb49e9435ace6b5a36721a"></a>
T *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab8959adb92fb49e9435ace6b5a36721a">getVoxels</a> ()</td></tr>
<tr class="memdesc:ab8959adb92fb49e9435ace6b5a36721a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the linear voxel array. <br /></td></tr>
<tr class="separator:ab8959adb92fb49e9435ace6b5a36721a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2e5997ea758ca556a98267986dfd3e2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa2e5997ea758ca556a98267986dfd3e2">compute3dId</a> (int linear_id, int id3d[3]) const</td></tr>
<tr class="memdesc:aa2e5997ea758ca556a98267986dfd3e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its position in the voxel array.  <a href="classpcl_1_1recognition_1_1_voxel_structure.html#aa2e5997ea758ca556a98267986dfd3e2">更多...</a><br /></td></tr>
<tr class="separator:aa2e5997ea758ca556a98267986dfd3e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5d6e002d3c77e098d31c413b08ab6c7"><td class="memItemLeft" align="right" valign="top"><a id="aa5d6e002d3c77e098d31c413b08ab6c7"></a>
const int *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa5d6e002d3c77e098d31c413b08ab6c7">getNumberOfVoxelsXYZ</a> () const</td></tr>
<tr class="memdesc:aa5d6e002d3c77e098d31c413b08ab6c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the number of voxels in x, y and z direction. <br /></td></tr>
<tr class="separator:aa5d6e002d3c77e098d31c413b08ab6c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac339791879a08260e2c0fe9fbfd69719"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#ac339791879a08260e2c0fe9fbfd69719">computeVoxelCenter</a> (const int id3[3], REAL center[3]) const</td></tr>
<tr class="memdesc:ac339791879a08260e2c0fe9fbfd69719"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the center of the voxel with given integer coordinates.  <a href="classpcl_1_1recognition_1_1_voxel_structure.html#ac339791879a08260e2c0fe9fbfd69719">更多...</a><br /></td></tr>
<tr class="separator:ac339791879a08260e2c0fe9fbfd69719"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d0fde6cc1b2daf9a4d47a696024dcaf"><td class="memItemLeft" align="right" valign="top"><a id="a8d0fde6cc1b2daf9a4d47a696024dcaf"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#a8d0fde6cc1b2daf9a4d47a696024dcaf">getNumberOfVoxels</a> () const</td></tr>
<tr class="memdesc:a8d0fde6cc1b2daf9a4d47a696024dcaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the total number of voxels. <br /></td></tr>
<tr class="separator:a8d0fde6cc1b2daf9a4d47a696024dcaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e6a0a625001e2dd50ec7eb83b96de33"><td class="memItemLeft" align="right" valign="top"><a id="a7e6a0a625001e2dd50ec7eb83b96de33"></a>
const float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#a7e6a0a625001e2dd50ec7eb83b96de33">getBounds</a> () const</td></tr>
<tr class="memdesc:a7e6a0a625001e2dd50ec7eb83b96de33"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the bounds of the voxel structure, which is pointer to the internal array of 6 doubles: (min_x, max_x, min_y, max_y, min_z, max_z). <br /></td></tr>
<tr class="separator:a7e6a0a625001e2dd50ec7eb83b96de33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac693db88daad1f7be7ef1366b3accbb3"><td class="memItemLeft" align="right" valign="top"><a id="ac693db88daad1f7be7ef1366b3accbb3"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#ac693db88daad1f7be7ef1366b3accbb3">getBounds</a> (REAL b[6]) const</td></tr>
<tr class="memdesc:ac693db88daad1f7be7ef1366b3accbb3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copies the bounds of the voxel structure to 'b'. <br /></td></tr>
<tr class="separator:ac693db88daad1f7be7ef1366b3accbb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12ef34f5ccdda4a032eecbc716e7db8e"><td class="memItemLeft" align="right" valign="top"><a id="a12ef34f5ccdda4a032eecbc716e7db8e"></a>
const REAL *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#a12ef34f5ccdda4a032eecbc716e7db8e">getVoxelSpacing</a> () const</td></tr>
<tr class="memdesc:a12ef34f5ccdda4a032eecbc716e7db8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the voxel spacing in x, y and z direction. That's the same as the voxel size along each axis. <br /></td></tr>
<tr class="separator:a12ef34f5ccdda4a032eecbc716e7db8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7d2292555c2d6a4530281ba5eab533d"><td class="memItemLeft" align="right" valign="top"><a id="ab7d2292555c2d6a4530281ba5eab533d"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab7d2292555c2d6a4530281ba5eab533d">getNeighbors</a> (const REAL *p, T **neighs) const</td></tr>
<tr class="memdesc:ab7d2292555c2d6a4530281ba5eab533d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Saves pointers to the voxels which are neighbors of the voxels which contains 'p'. The containing voxel is returned too. 'neighs' has to be an array of pointers with space for at least 27 pointers (27 = 3^3 which is the max number of neighbors). The <br /></td></tr>
<tr class="separator:ab7d2292555c2d6a4530281ba5eab533d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a242e8f7ff665076e8303ea0ae4c5ec5a"><td class="memItemLeft" align="right" valign="top"><a id="a242e8f7ff665076e8303ea0ae4c5ec5a"></a>
T *&#160;</td><td class="memItemRight" valign="bottom"><b>voxels_</b></td></tr>
<tr class="separator:a242e8f7ff665076e8303ea0ae4c5ec5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a44799ef8805e118ac892d7b6195da0e6"><td class="memItemLeft" align="right" valign="top"><a id="a44799ef8805e118ac892d7b6195da0e6"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>num_of_voxels_</b> [3]</td></tr>
<tr class="separator:a44799ef8805e118ac892d7b6195da0e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2bc2f5d6ded108e2fceaea90de4f443"><td class="memItemLeft" align="right" valign="top"><a id="ab2bc2f5d6ded108e2fceaea90de4f443"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>num_of_voxels_xy_plane_</b></td></tr>
<tr class="separator:ab2bc2f5d6ded108e2fceaea90de4f443"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a613dc73847633478d1af29abbbd5b369"><td class="memItemLeft" align="right" valign="top"><a id="a613dc73847633478d1af29abbbd5b369"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>total_num_of_voxels_</b></td></tr>
<tr class="separator:a613dc73847633478d1af29abbbd5b369"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a88ece26758df5a02b5b8fc38e3f98246"><td class="memItemLeft" align="right" valign="top"><a id="a88ece26758df5a02b5b8fc38e3f98246"></a>
REAL&#160;</td><td class="memItemRight" valign="bottom"><b>bounds_</b> [6]</td></tr>
<tr class="separator:a88ece26758df5a02b5b8fc38e3f98246"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af1ff2ce4e5db9501993cbc874c410a65"><td class="memItemLeft" align="right" valign="top"><a id="af1ff2ce4e5db9501993cbc874c410a65"></a>
REAL&#160;</td><td class="memItemRight" valign="bottom"><b>spacing_</b> [3]</td></tr>
<tr class="separator:af1ff2ce4e5db9501993cbc874c410a65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b73191a8ff7c247fbce15aeca18df1c"><td class="memItemLeft" align="right" valign="top"><a id="a4b73191a8ff7c247fbce15aeca18df1c"></a>
REAL&#160;</td><td class="memItemRight" valign="bottom"><b>min_center_</b> [3]</td></tr>
<tr class="separator:a4b73191a8ff7c247fbce15aeca18df1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;class T, typename REAL = float&gt;<br />
class pcl::recognition::VoxelStructure&lt; T, REAL &gt;</h3>

<p>This class is a box in R3 built of voxels ordered in a regular rectangular grid. Each voxel is of type T. </p>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="aa2e5997ea758ca556a98267986dfd3e2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa2e5997ea758ca556a98267986dfd3e2">&#9670;&nbsp;</a></span>compute3dId()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;class T , typename REAL  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html">pcl::recognition::VoxelStructure</a>&lt; T, REAL &gt;::compute3dId </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>linear_id</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>id3d</em>[3]&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">

<p>Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its position in the voxel array. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">linear_id</td><td>the position of the voxel in the internal voxel array. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">id3d</td><td>an array of 3 integers for the integer coordinates of the voxel. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="comment">// Compute the z axis id</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        id3d[2] = linear_id / num_of_voxels_xy_plane_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordtype">int</span> proj_xy = linear_id % num_of_voxels_xy_plane_;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="comment">// Compute the y axis id</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        id3d[1] = proj_xy / num_of_voxels_[0];</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="comment">// Compute the x axis id</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        id3d[0] = proj_xy % num_of_voxels_[0];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
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<a id="ac339791879a08260e2c0fe9fbfd69719"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac339791879a08260e2c0fe9fbfd69719">&#9670;&nbsp;</a></span>computeVoxelCenter()</h2>

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template&lt;class T , typename REAL  = float&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1recognition_1_1_voxel_structure.html">pcl::recognition::VoxelStructure</a>&lt; T, REAL &gt;::computeVoxelCenter </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>id3</em>[3], </td>
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          <td class="paramtype">REAL&#160;</td>
          <td class="paramname"><em>center</em>[3]&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Computes the center of the voxel with given integer coordinates. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">id3</td><td>the integer coordinates along the x, y and z axis. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">center</td><td></td></tr>
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<div class="fragment"><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        center[0] = min_center_[0] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (id3[0])*spacing_[0];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        center[1] = min_center_[1] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (id3[1])*spacing_[1];</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        center[2] = min_center_[2] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (id3[2])*spacing_[2];</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>recognition/include/pcl/recognition/ransac_based/<a class="el" href="ransac__based_2voxel__structure_8h_source.html">voxel_structure.h</a></li>
<li>recognition/include/pcl/recognition/impl/ransac_based/<a class="el" href="voxel__structure_8hpp_source.html">voxel_structure.hpp</a></li>
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